Computer-implemented methods, computer-readable media and electronic devices for virtual control of agricultural devices

ABSTRACT

A method for controlling a plurality of mobile agricultural devices that includes establishing electronic communication with a plurality of transceivers mounted to the mobile agricultural devices. The method also includes building a three-dimensional model including a virtual representation of each of the mobile agricultural devices and displaying the three-dimensional model at a user interface having a display. The method further includes receiving location data regarding the mobile agricultural devices via the transceivers and adjusting at least one of the virtual representations of the mobile agricultural devices within the model to reflect the location data. The method still further includes receiving, via the user interface, a user input comprising a command relating to operation of a first one of the mobile agricultural devices and transmitting the user input command to one of the transceivers, which is mounted to the first mobile agricultural device, so as to implement a change in operation of the first mobile agricultural device.

RELATED APPLICATION

This is a continuation of U.S. application Ser. No. 16/029,093, filedJul. 6, 2018, entitled COMPUTER-IMPLEMENTED METHODS, COMPUTER-READABLEMEDIA AND ELECTRONIC DEVICES FOR VIRTUAL CONTROL OF AGRICULTURALDEVICES, which is hereby incorporated by reference into the presentapplication in its entirety.

FIELD OF THE INVENTION

The present disclosure generally relates to computer-implementedmethods, systems comprising computer-readable media and electronicdevices for monitoring a farm. More particularly, embodiments of theinvention relate to a plurality of transmitters and a computing deviceor controller hosting and/or providing instructions to a graphical userinterface that allows users to review and revise real-time or nearreal-time, farm-related data and/or alter equipment operationalsettings.

BACKGROUND

Modern farms often have several types of equipment that are eachcontrolled by a control system. Disparate farm equipment control systemsmay comprise a mix of manual, automated and/or remote-control systems,each system being responsible for independently controlling a differentpiece of equipment. For instance, a combine may be automaticallycontrolled in whole or in part using one or more sensors providingfeedback data to a processing unit, the processing unit providingoperational adjustment commands based on analysis of the feedback data.Meanwhile, an irrigation machine may be controlled in whole or in partusing a collection of sensors providing data to a central server, thecentral server providing data to a user interface (e.g., at a laptopworkstation) and/or smart controller for adjusting equipment operation(e.g., valve switching) in view of the data.

Existing farms therefore essentially utilize multiple disjointed controlsilos for operating farm equipment. Information is presented to usersand/or smart controllers with limited context, which restricts theability of the users to quickly and efficiently determine desirableadjustments and/or assess efficacy of equipment operation at afundamental level.

BRIEF SUMMARY

Embodiments of the present technology relate to computer-implementedmethods, systems comprising computer-readable media, and electronicdevices for monitoring farm equipment. Embodiments provide for agraphical user interface that allows users to review and revisereal-time or near real-time, farm-related data and/or alter equipmentoperational settings.

In a first aspect, a computer-implemented method for controlling aplurality of mobile agricultural devices may be provided. The methodincludes establishing electronic communication with a plurality oftransceivers mounted to the mobile agricultural devices. The method alsoincludes building a three-dimensional model including a virtualrepresentation of each of the mobile agricultural devices and displayingthe three-dimensional model at a user interface having a display. Themethod further includes receiving location data regarding the mobileagricultural devices via the transceivers and adjusting at least one ofthe virtual representations of the mobile agricultural devices withinthe model to reflect the location data. The method still furtherincludes receiving, via the user interface, a user input comprising acommand relating to operation of a first one of the mobile agriculturaldevices and transmitting the user input command to one of thetransceivers, which is mounted to the first mobile agricultural device,so as to implement a change in operation of the first mobileagricultural device. The method may include additional, fewer, oralternative actions, including those discussed elsewhere herein, and maybe implemented via one or more local or remote processors, and/or viacomputer-executable instructions stored on non-transitorycomputer-readable media or medium.

In another aspect, a system comprising computer-readable media forcontrolling a plurality of mobile agricultural devices may be provided.The system may include a non-transitory computer-readable medium with aprogram stored thereon, wherein the program instructs a hardwareprocessing element of a device to perform the following: (1) establishelectronic communication with a plurality of transceivers mounted to themobile agricultural devices; (2) build a three-dimensional modelincluding a virtual representation of each of the mobile agriculturaldevices; (3) display the three-dimensional model at a user interfacehaving a display; (4) receive location data regarding the mobileagricultural devices via the transceivers; (5) adjust at least one ofthe virtual representations of the mobile agricultural devices withinthe model to reflect the location data; (6) receive, via the userinterface, a user input comprising a command relating to operation of afirst one of the mobile agricultural devices; and (7) transmit the userinput command to one of the transceivers, which is mounted to the firstmobile agricultural device, so as to implement a change in operation ofthe first mobile agricultural device. The program(s) stored on thecomputer-readable media may instruct the processing elements to performadditional, fewer, or alternative actions, including those discussedelsewhere herein.

In yet another aspect, a computing device for controlling a plurality ofmobile agricultural devices may be provided. The computing device mayinclude a communication element, a memory element, and a processingelement. The communication element may be configured to provideelectronic communication with a communication network. The processingelement may be electronically coupled to the memory element and to thecommunication element. The processing element may be configured to: (1)establish electronic communication with a plurality of transceiversmounted to the mobile agricultural devices; (2) build athree-dimensional model including a virtual representation of each ofthe mobile agricultural devices; (3) display the three-dimensional modelat a user interface having a display; (4) receive location dataregarding the mobile agricultural devices via the transceivers; (5)adjust at least one of the virtual representations of the mobileagricultural devices within the model to reflect the location data; (6)receive, via the user interface, a user input comprising a commandrelating to operation of a first one of the mobile agricultural devices;and (7) transmit the user input command to one of the transceivers,which is mounted to the first mobile agricultural device, so as toimplement a change in operation of the first mobile agricultural device.The computing device may include additional, fewer, or alternatecomponents and/or functionality, including that discussed elsewhereherein.

Advantages of these and other embodiments will become more apparent tothose skilled in the art from the following description of the exemplaryembodiments which have been shown and described by way of illustration.As will be realized, the present embodiments described herein may becapable of other and different embodiments, and their details arecapable of modification in various respects. Accordingly, the drawingsand description are to be regarded as illustrative in nature and not asrestrictive.

BRIEF DESCRIPTION OF THE DRAWINGS

The Figures described below depict various aspects ofcomputer-implemented methods, systems comprising computer-readablemedia, and electronic devices disclosed therein. It should be understoodthat each Figure depicts an embodiment of a particular aspect of thedisclosed methods, media, and devices, and that each of the Figures isintended to accord with a possible embodiment thereof. Further, whereverpossible, the following description refers to the reference numeralsincluded in the following Figures, in which features depicted inmultiple Figures are designated with consistent reference numerals. Thepresent embodiments are not limited to the precise arrangements andinstrumentalities shown in the Figures.

FIG. 1 illustrates an exemplary environment in which various componentsof a computing device may be utilized, the computing device configuredto communicate electronically with a plurality of local controllers,control a graphical user interface, and receive user input via thegraphical user interface, all in accordance with aspects of the presentembodiments;

FIG. 2 illustrates various components of an exemplary local controllershown in block schematic form;

FIG. 3 illustrates various components of an exemplary computing deviceshown in block schematic form;

FIG. 4 lists at least a portion of the steps of an exemplarycomputer-implemented method for controlling a plurality of mobileagricultural devices in accordance with other aspects of the presentembodiments;

FIG. 5 illustrates landscape portions of an exemplary three-dimensionalmodel displayed by a graphical user interface in accordance with stillother aspects of the present embodiments; and

FIG. 6 illustrates the exemplary three-dimensional model of FIG. 5 withadditional equipment and structure elements added.

The Figures depict exemplary embodiments for purposes of illustrationonly. One skilled in the art will readily recognize from the followingdiscussion that alternative embodiments of the systems and methodsillustrated herein may be employed without departing from the principlesof the invention described herein.

DETAILED DESCRIPTION

The present embodiments may relate to, inter alia, a system including aplurality of communication elements (e.g., transmitters) respectivelyfreestanding or mounted to a plurality of farm implements, structuresand devices, and a graphical user interface hosted by and/or incommunication with a computing device. The computing device may executea virtual control program having a mapping module. The mapping modulemay receive data via the transmitters about a farm. The mapping modulemay generate instructions based at least in part on the data from thetransmitters for displaying virtual representations of the farmimplements and structures at the graphical user interface.

The mapping module may also maintain and/or access an equipment andstructure database containing data regarding the farm equipment andstructures. For instance, the equipment and structure database maycontain data regarding vehicles and farm tools, such as data regardingfuel storage capacity, top speed, tool span and other dimensionalcharacteristics, seed and/or fertilizer storage capacity and/or spreadrate, and other data useful in viewing and/or simulating farmoperations.

The virtual control program may also include a landscape module forgenerating instructions for display of virtual representations of thetopography and natural characteristics of the farm within the model. Thelandscape module may be in communication with a topography databaseconfigured to store topography and natural characteristic data. Thetopography data may be derived, for example, from one or more remotesensing and/or direct survey data collection means. For example,topography data may be gathered via interferometric synthetic apertureradar, optical image recording apparatus, other similar recording meansand/or from computer data/files including 2D or 3D images and/or models.The topography data may also include natural characteristics of thefarm, such as soil measured/estimated moisture content, nitrogencontent, crop rotation history and/or readiness for planting/harvesting,water reservoir volume, and other characteristics of the farm.

The landscape module may also receive data from the transmitters forincorporation into instructions for generating topographical and naturalcharacteristic model elements within the model. For example, thelandscape module may receive rainfall data from a transmitter mounted toa weather station on the farm that includes a rain gauge, and mayincorporate the data into the topography database and/or instructionsfor display of the topography and natural characteristics of the farm.For another example, one or more transmitters may be in communicationwith location determining elements (e.g., global positioning systemtransmitter(s)), may be mounted on mobile farm equipment, and mayprovide location data to the landscape module that may be recorded inthe topography database to improve the accuracy of the topographicaldata stored therein and/or may be used to generate the model.

It is also foreseen that the mapping module and/or the landscape modulemay receive data from external data sources and/or via input provided bya user without departing from the spirit of the present invention. Forexample, a weather service application programming interface may feedreal-time or near real-time rainfall data to the landscape module sothat the landscape module may update soil moisture content and/or waterreservoir volume estimates and representations respectively within thetopography database and the model. For another example, a GPS or thelike may provide location information regarding farm implements to themapping module for incorporation into the virtual representations of theimplements within the model. For still another example, an implementmanufacturer may issue a maintenance bulletin and/or recall, which maybe communicated to the mapping module (e.g., via an API in communicationwith the computing device), and incorporated into the model for displayto the user as, for example, an alert notification data handle. Forstill yet another example, one or more of the databases described hereinmay be stored remotely, for example by a cloud storage service, withoutdeparting from the spirit of the present invention.

The mapping module may place farm equipment and structurerepresentations within the model so that a plurality of relativedistances between the equipment, structure, static landmarks and/ortopographical or natural component representations (each a “tangibleelement” and referred to collectively with data elements discussed belowas “elements” of the model) are substantially to scale. One or moretangible elements may not be represented to scale (e.g., each farmimplement may be enlarged from its actual scalar size with respect totopographical elements to enhance visibility to the user). The mappingmodule may be configured to automatically scale model elements of acertain type—e.g., farm implements—differently than other types of modelelements (e.g., topographical elements). A user may also be permitted toselect one or more model elements and toggle between scalar andnon-scalar settings manually.

The mapping module may also be configured to generate instructions fordisplay of model elements comprising abstract data elements or“handles,” each handle containing one or more data types and/oralgorithms relating to one or more other model elements. Each datahandle may be associated with and/or positioned by the mapping modulewithin the model proximate one or more tangible model elements to whichit relates. For instance, the data type may be a flow rate, a growthrate, a retention period, a speed, a position relative to another modelelement, or other data or algorithm(s) relating to the model. Foranother example, a soil moisture content data handle may be positionedabove a middle of a field section to which the measurement applies. Forstill another example, a flow rate data handle may be positioned along apipe carrying the flow at its inlet, outlet and/or midway between theinlet and the outlet. A pressure drop algorithm data handle may beorganized with and placed adjacent to (and possibly stacked behind) theflow rate data handle so the user may optionally see and understand abasis for a drop in flow rate between two points in a pipeline. Suchalgorithms may comprise ideal or quasi-ideal models for estimatingphysical states or conditions for elements within the model and/or maybe at least partially determined through data regression or the likegiven two or more measured values without departing from the spirit ofthe present invention.

The virtual control program may include instructions for permitting userinput of data handles, for example where a user manually inputs a soilmoisture content measured in a field, or a pressure value taken at apoint along a pipeline. Preferably, the virtual control program alsoaccesses a database containing a library of data handle types. Morepreferably, the library of data handle types includes pre-configuredsettings defining placement of each data handle type within the model inrelation to—as well as functional relationships between the data handletype and—tangible model elements.

Reference to the library of data handle types may cause the computingdevice to request additional input from the user in order to properlydefine a data handle's placement within the model and functionalrelation to tangible model elements. For instance, the user may chooseto add a “Flow Rate”-type data handle, causing the computing device topose a series of associated inquiries from the library of data handletypes via the graphical user interface. The computing device may querythe user to select one or more tangible model elements to which the flowrate applies (e.g., a pump station outlet, a pipe, and an irrigationunit outlet), and may request the user to select whether pressure dropover the selected model elements should be considered/entered/estimated.In embodiments including rich algorithmic and/or simulation softwarecomponents, manually input and/or automatically detected information indata handles may flow down to other affected data handles once given aminimum level of definition (i.e., interrelation to tangible and/or dataelements in the model), for example where a flow rate and surroundingtopographical elements are used at least in part to calculate a waterreservoir volume. In this manner, the user is permitted to select andattach contextually valuable data elements and to define functional aswell as spatial interrelationships between model elements, providingvaluable context for observing and controlling farm operations.

Data handles may also be included and populated in the modelautomatically by the mapping module by reference to the library of datahandle types. For instance, where the mapping module instructs displayof a tractor within the model, the mapping module may be configured toautomatically generate and populate five data handles according to thepre-configured settings stored in the library of data handle types.These data handles may include hours the tractor has been in operation,fuel level, hours a driver has been working, estimated time to fieldcompletion, and ground working tool being used on the tractor, forexample. The automatically populated data handles may be manipulated,supplemented and/or deleted by a user via the graphical user interface.The data handles may be set for real-time or near real-time rolling orbatch-based updates from respective databases and/or local controllersof the system (see discussion below) and/or for updates on particulartime schedules or upon user demand.

The data handles may be related, dragged and/or otherwise selected andre-organized within the model. For example, data handles may optionallybe grouped, stacked and/or collapsed/expanded individually or in groupsby user input, for example to improve the user's visual experiencewithin the model. Such spatial organization(s) of data handles may bepre-configured for optimal viewing according to settings stored in thelibrary of data handle types, and such settings may be customizableand/or may vary depending on model element and/or data handle type(s).Such settings may also be dynamic and take into account changingconditions of the model. For example, a flow rate data handle may besubordinated or stacked “below” another data handle attached to apipeline under normal operating conditions. However, if a measuredpressure at an outlet fitting of the pipeline drops below apre-determined level during operation of an upstream pump, the flow ratedata handle may automatically be made visible to the user, for examplewith an alert indicator and/or coloration indicating an abnormalcondition was detected that may indicate low water availability and/oran obstruction to flow. Such an alert indicator and/or coloration may beused to indicate: normal operation; abnormal operation; the need foradditional water (i.e., low moisture content in soil and/or low watersupply in an animal containment structure); the need to operate a heatexchange device to regulate temperature inside a structure; a low watercondition at a storage pond; proper or improper operation of a grainstorage facility; a low tire pressure; or other statuses or conditions.

The user may relate two model elements (e.g., two data handles, atangible element and a data handle, etc.) by clicking each within themodel and choosing to define a relationship therebetween. Therelationship may, for example, constitute a temporary spatialoperational limit dependent on one or more conditions on the farm.Spatial parameters may be selected or drawn within the model by userinput, providing simple means for interrelating model elements andoperational limits within the at least partially scalar model.Therefore, in an embodiment, a user may use manual gesture controlwithin the model to define a boundary—such as around a “low” area of thefarm near a water reservoir—as well as a soil moisture contentthreshold. The user may also select one or more mobile tangible elementsin the model, such as a tractor, and restrict any movement of thetractor within the defined low area in the event the soil moisturecontent threshold is exceeded.

The data handles may also be functionally subordinated to one another(e.g., by instructing that a data handle A be optimized while datahandle B is maintained within a given range) or otherwise interrelatedwithin the ambit of the invention.

A user may manipulate the model and/or provide user input using gesturecontrol, as will be discussed in more detail below. The user input maybe provided via any known system for capturing discrete and/orcontinuous user motion(s) and translating same to an effect to beachieved within the model.

The mapping module and/or an associated modeling module may beconfigured for operational and/or simulation modes. For instance, a usermay initiate display of the model populated using real time dataregarding the constituent model elements, and may subsequently workwithin a simulation mode (with or without real-time or near real-timeupdates regarding the model elements). Selections and/or changes made bythe user in simulation mode may not be carried out outside of thesimulation in the absence of specific implementation instructions givenby the user. New settings and/or operational parameters may be enteredat data handles and/or in separate data fields made available to theuser, and mobile equipment and/or structures may be repositioned viauser input.

Simulation modes may assist the user in planning and/or visualizing afuture condition—for example, relative positions of farm equipmentassuming a time lapse and/or new speed settings, degree of soilsaturation assuming a time lapse and/or new flow rate, etc. Simulationmodes may also permit the user to better observe behavioralrelationships between model elements, such as where two functionallyseparate pieces of mobile equipment operate on the same or relatedphysical substances, plants and/or animals on a farm. Preferably, theevents of a simulation are saved by the computing device so that theuser may instruct the computing device to implement one or moresimulated changes on the farm as desired following simulation.

The user may also change operational parameters and/or settings forequipment and structures represented in the model. For example, the usermay use gesture control within a 3D model to select a data handleassociated with a tangible element, e.g., by selecting a gate statusdata handle associated with a paddock or by selecting a tractor speeddata handle associated with a tractor. The user may choose an editoperation for the data handle, for example by selecting the data handlea second time to prime the handle for the user input, followed byentering a new value. For instance, the user may edit a tractor speedwithin the tractor speed data handle or may choose to actuate a gatecontrolling animal movement within the paddock by selecting “Up” withinthe gate status data handle. The change in parameter(s) and/orsetting(s) may be communicated via the computing device to localcontroller(s) mounted to such equipment and structure(s), and the localcontroller(s) may issue commands to actuating mechanisms with which theyare in communication to carry out the changes flowing from the user'sediting of the model. In the example noted above, a local controllermounted to the tractor may issue a speed change command to a throttledirectly controlled by the local controller and/or to an onboardoriginal equipment manufacturer smart controller to carry out the changein speed. Likewise, a local controller comprising a switch for actuatingan electric motor that drives the gate at the paddock may issue acommand causing the electric motor to raise or lower the gate.

Also, because the tangible elements and data handles in the model arerelated to one another in many cases, manual changes to operationalparameters/settings made by the user may automatically flow down torelated operational settings, causing automated secondary commands to beissued to compensate for the changes entered by the user. For instance,a combine performing harvesting operations may be trailed by a balingimplement, and a command to speed the combine up issued by the usermanually may automatically trigger a secondary command to the trailingbaling implement causing it to increase its speed to match the combine.Such automated secondary actions may also apply to relationships theuser defines between model elements. In the example discussedpreviously, the user's designation of a “low area” within which atractor should not travel in wet conditions may automatically flow downto other mobile equipment as well.

Embodiments of the present invention provide a dynamic model withinwhich farm equipment, natural characteristics, systems and structuresmay be spatially viewed, related and/or manipulated based on real-timeor near real-time data and/or simulated conditions. The limitations ofprior art control silos may therefore be addressed to provide a userwith improved control over farm operations.

I. Exemplary System

FIG. 1 depicts an exemplary system 10 for reviewing and revisingreal-time or near real-time, farm-related data and/or altering equipmentoperational parameters/settings. The depicted embodiment of theinvention includes a plurality of local controllers 12; a computingdevice 14; a user interface 16 including a gesture sensor 18 and adisplay 20; and a communication network 22 for providing electroniccommunication between all or some of the components of the system 10.

Each of the plurality of n local controllers 12 includes a communicationelement 24 (see FIG. 2) for transmitting data regarding presentconditions surrounding the controller 12 and/or regarding equipmentand/or structure(s) to which the controller 12 is mounted. The computingdevice 14 may receive the data, and use the data to build arepresentational model of the farm including equipment, structures andlandscape. The computing device 14 may control display of the model viathe user interface 16. The computing device 14 may also receive manualinput via the user interface 16 from a user. The input may relate topositioning of elements within the model, to metadata and/or physicalstate data regarding the elements within the model, and/or to settingsor parameters for the model elements including operational commands tobe implemented at farm equipment and/or structure(s).

The communication network 22 generally allows communication between thecomponents of the system 10. The communication network 22 may includelocal area networks, metro area networks, wide area networks, cloudnetworks, the Internet, and the like, or combinations thereof. Thecommunication network 22 may be wired, wireless, or combinations thereofand may include components such as switches, routers, hubs, accesspoints, and the like. The components of the system 10 may connect to thecommunication network 22 and/or to the other components of the system 10either through wires, such as electrical cables or fiber optic cables,or wirelessly, such as radio frequency (RF) communication using wirelessstandards such as Bluetooth® or the Institute of Electrical andElectronic Engineers (IEEE) 802.11.

Returning to FIG. 2, each local controller 12 may include one or more ofcommunication element 24, a user interface 26, a location determiningelement 28, a sensing element 30, a memory element 32, and a processingelement 34.

The communication element 24 may include signal or data transmitting andreceiving circuits, such as antennas, amplifiers, filters, mixers,oscillators, digital signal processors (DSPs), and the like. Thecommunication element 24 may establish communication wirelessly byutilizing RF signals and/or data that comply with communicationstandards such as cellular 2G, 3G, or 4G, IEEE 802.11 standard such asWiFi, IEEE 802.16 standard such as WiMAX, Bluetooth™, or combinationsthereof. Alternatively, or in addition, the communication element 24 mayestablish communication through connectors or couplers that receivemetal conductor wires or cables which are compatible with networkingtechnologies such as ethernet. In certain embodiments, the communicationelement 24 may also couple with optical fiber cables. The communicationelement 24 may be in communication with or electronically coupled to theuser interface 26, the location determining element 28, the sensingelement 30, the memory element 32, and/or the processing element 34.

The user interface 26 may comprise a control panel for a piece of farmequipment, for example, and may be a graphical user interface includinga display. The display may include video devices of the following types:plasma, light-emitting diode (LED), organic LED (OLED), Light EmittingPolymer (LEP) or Polymer LED (PLED), liquid crystal display (LCD), thinfilm transistor (TFT) LCD, LED side-lit or back-lit LCD, heads-updisplays (HUDs), or the like, or combinations thereof. The display mayinclude a screen on which information is presented, with the screenpossessing a square or a rectangular aspect ratio that may be viewed ineither a landscape or a portrait mode. In various embodiments, thedisplay may also include a touch screen occupying the entire screen or aportion thereof so that the display functions as part of the userinterface 26. The touch screen may allow the user to interact with thelocal controller 12 by physically touching, swiping, or gesturing onareas of the screen. The display may be capable of displaying 2D and/or3D representations and/or models.

The user interface 26 generally allows the user to utilize inputs andoutputs to interact with the local controller 12. Input means mayinclude buttons, pushbuttons, knobs, jog dials, shuttle dials,directional pads, multidirectional buttons, switches, keypads,keyboards, mice, joysticks, gesture control sensor(s), microphones, orthe like, or combinations thereof. Outputs may include audio speakers,lights, dials, meters, printers, or the like, or combinations thereof.With the user interface 26, the user may be able to control the featuresand operation of the display. For example, the user may be able to zoomin and out on the display using the user input means. In addition, theuser may be able to pan the image on the display either by touching andswiping the screen of the display, using multidirectional buttons ordials, and/or by performing a series of gestures detected by the userinterface 26 and/or the sensing element 30 and converted into a pancommand for altering the output of the display.

The user interface 26 may also permit the user to change operationalsettings of farm equipment and/or structures to which the localcontroller 12 is mounted and/or with which it is in communication,substantially in accordance with the discussions below.

The location determining element 28 generally determines a currentgeolocation of the local controller 12 and may receive and process radiofrequency (RF) signals from a global navigation satellite system (GNSS)such as the GPS primarily used in the United States, the GLONASS systemprimarily used in the Soviet Union, or the Galileo system primarily usedin Europe. The location determining element 28 may accompany or includean antenna to assist in receiving the satellite signals. The antenna maybe a patch antenna, a linear antenna, or any other type of antenna thatmay be used with location or navigation devices. The locationdetermining element 28 may include satellite navigation receivers,processors, controllers, other computing devices, or combinationsthereof, and memory. The location determining element 28 may process asignal, referred to herein as a “location signal”, from one or moresatellites that includes data from which geographic information such asthe current geolocation is derived. The current geolocation may includecoordinates, such as the latitude and longitude, of the current locationof the local controller 12. The location determining element 28 maycommunicate the current geolocation to the processing element 34, thememory element 32, and/or the communication element 24.

Although embodiments of the location determining element 28 may includea satellite navigation receiver, it will be appreciated that otherlocation-determining technology may be used. For example, cellulartowers or any customized transmitting radio frequency towers may be usedinstead of satellites to determine the location of the local controller12 by receiving data from at least three transmitting locations and thenperforming basic triangulation calculations to determine the relativeposition of the device with respect to the transmitting locations. Incertain simple embodiments, a local controller may comprise atransmitter without a dedicated location determining element. With sucha configuration, any standard geometric triangulation algorithm may beused to determine the location of the local controller.

The location determining element 28 may also include or be coupled witha pedometer, accelerometer, compass, or other dead-reckoning componentswhich allow it to determine the location of the controller 12. Thelocation determining element 28 may determine the current geographiclocation through a communications network, such as by using Assisted GPS(A-GPS), or from another electronic device. The location determiningelement 28 may even receive location data directly from a user.

The sensing element 30 may include a gyroscope, motion sensor,accelerometer, motion detector, contact sensor, fuel gauge, weightsensor, thermometer, anemometer, barometric pressure sensor, vesselpressure sensor (e.g., tire pressure gauge), water sensor, air and/orwater pollution detector, flow rate sensor, light sensor, photographicelement, or other sensor for detecting a relevant physical conditionand/or change in condition on the farm. A photographic element mayinclude cameras, as are known in the art, or other optical sensor andlens combinations capable of generating still image and/or video files.In various embodiments, the sensing element 30 may be integrated in ahousing or body of the local controller 12, though it may also bephysically separate from the remainder of the local controller 12 and inelectronic communication therewith. One of ordinary skill willappreciate that a controller 12 having multiple sensing elements 30—forinstance an optical sensor for sensing user input in the form of gesturecontrol plus a water pressure sensor—is clearly within the ambit of thepresent invention.

The memory element 32 may include electronic hardware data storagecomponents such as read-only memory (ROM), programmable ROM, erasableprogrammable ROM, random-access memory (RAM) such as static RAM (SRAM)or dynamic RAM (DRAM), cache memory, hard disks, floppy disks, opticaldisks, flash memory, thumb drives, universal serial bus (USB) drives, orthe like, or combinations thereof. In some embodiments, the memoryelement 32 may be embedded in, or packaged in the same package as, theprocessing element 34. The memory element 32 may include, or mayconstitute, a “computer-readable medium.” The memory element 32 maystore the instructions, code, code segments, software, firmware,programs, applications, apps, services, daemons, or the like that areexecuted by the processing element 34. The memory element 32 may also bein electronic communication with the user interface 26, locationdetermining element 28, and/or sensing element 30 store commands forexecution, equipment settings/parameters, environmental and/oroperational data or logs, metadata, photographs, audiovisual files,databases, and the like.

The processing element 34 may include electronic hardware componentssuch as processors, microprocessors (single-core and multi-core),microcontrollers, digital signal processors (DSPs), field-programmablegate arrays (FPGAs), analog and/or digital application-specificintegrated circuits (ASICs), or the like, or combinations thereof. Theprocessing element 34 may generally execute, process, or runinstructions, code, code segments, software, firmware, programs,applications, apps, processes, services, daemons, or the like. Theprocessing element 34 may also include hardware components such asfinite-state machines, sequential and combinational logic, and otherelectronic circuits that may perform the functions necessary for theoperation of the current invention. The processing element 34 may be incommunication with the other electronic components through serial orparallel links that include address busses, data busses, control lines,and the like. The processing element 34 may be programmed or configured,via hardware, software, firmware, or combinations thereof, to performall or a portion of the functions outlined herein and attributed to thelocal controller 12 and/or the computing device 14.

Turning now to FIG. 3, the computing device 14 may be embodied by apersonal computer such as a desktop workstation and/or laptop computer,and/or by application servers, database servers, file servers, gamingservers, mail servers, print servers, web servers, or the like, orcombinations thereof, and may broadly comprise a communication element36, a memory element 38, a processing element 40 and a user interface41. The communication element 36, the memory element 38, the processingelement 40 and the user interface 41 may respectively be constructedsimilarly to the communication element 24, the memory element 32, theprocessing element 34 and the user interface 26 according to thedescription above. The processing element 40 may be programmed orconfigured, via hardware, software, firmware, or combinations thereof,to perform all or a portion of the functions outlined herein andattributed to the local controller 12, the computing device 14, and/orthe user interface 16.

Particularly, and returning to FIG. 1, the processing element 40 isconfigured to execute a virtual control program 42, as described in moredetail below. The virtual control program 42 is configured to generateinstructions for display of virtual representations of farm equipmentand structures, as well as topographical and natural characteristic dataand data handles relating to the farm. The virtual control program 42therefore directly or indirectly (e.g., via commercially available 3Drendering software as discussed below) instructs display of a virtualrepresentation or model of the farm at the user interface 16, andreceives user input from the user interface 16.

The display 20 of the user interface 16 may be similarly constructed tothe display of the user interface 26 according to the description above.The display 20 may also or alternatively display a 3D visual model tothe user, the model being based at least in part on data received fromthe local controllers 12 in real-time or near real-time. For instance,the user interface 16 may include a headset and hand controller sold byOculus VR, LLC under the trademark Oculus®, and may operate inconjunction with image rendering software sold in association therewith.

Another exemplary gesture sensor 18 may include a system sold byMicrosoft Corporation under the trademark Kinect®. In an embodiment, thegesture sensor 18 may include an optical sensor device (such as thecamera(s) of the Kinect® system) configured to provide data forcomparison against a template database 44 relating certain bodymovements to desired changes to and/or movements within the model. In anembodiment, the gesture sensor 18 may sense user motion and transmitresulting data to the computing device 14. The virtual control program42 may analyze the data to identify key pointers and/or body parts ofthe user within a key pointer module 46 and relate movement of one ormore key pointer(s) to one or more body movements stored in the templatedatabase 44. The computing device 14 may then act on the model in themanner specified in connection with the movement in the templatedatabase 44. For instance, a gesture identified as a “poke” movement maybe connected in the template database 44 to a user “select” function tobe implemented on a model element positioned immediately in front of arepresentation of the user's hand within the model at the time thepoking motion was detected. One having ordinary skill will immediatelyrealize that a wide variety of gesture recognition devices and systemsare within the ambit of the present invention. One of ordinary skillwill also appreciate that a graphical user interface including any typeof display capable of generating 2D and/or 3D models in communicationwith a sensor for detecting control gestures is within the ambit of thepresent invention.

The computing device 14 may store, execute and/or access the virtualcontrol program 42, which may include a mapping module 48, a user inputmodule 50, and a landscape module 52. The computing device 14 may alsoincorporate and/or access an equipment and structure database 54, a datahandle library database 56, and a topography database 58. The databases44, 54, 56, 58 may be embodied by any organized collection of data andmay include schemas, tables, queries, reports, and so forth which may beimplemented as data types such as bibliographic, full-text, numeric,images, or the like and combinations thereof. The databases 44, 54, 56,58 may be stored in memory that resides in one computing machine, or maybe stored in a plurality of computing machines, and may be storedlocally on the computing device 14 and/or remotely (e.g., by a cloudstorage service). The computing device 14 may communicate with thedatabases 44, 54, 56, 58 through the communication network 22 and/ordirectly. In addition, the databases 44, 54, 56, 58 may interface with,and be accessed through, one or more database management systems, as iscommonly known, in addition to or complementary with direct or indirectinterfacing with the virtual control program 42.

It is foreseen that a portion of the functions executed at the computingdevice 14 and/or according to instructions of the virtual controlprogram and described herein (e.g., instructions for rendering virtualrepresentations) may be performed by commercially available softwaresuch as the 3D image rendering and/or gesture acquisition and analysissoftware referenced above without departing from the spirit of thepresent invention. For instance, a template database and/or all or someof the gesture analysis, relation to an action to be taken in the model,and issuance of a command to alter the model accordingly, may beperformed by another computing device and/or third party software (e.g.,by hardware and software made available with the Kinect® system) withoutdeparting from the spirit of the present invention, preferably pursuantto customization and configuration to interface with the othercomponents of the system 10 in view of the functions described herein.

II. Exemplary Computer-Implemented Method

FIG. 4 depicts a listing of steps of an exemplary computer-implementedmethod 100 for enabling review and revision—in real-time or nearreal-time—of farm-related data and/or equipment operationalparameters/settings via a user interface displaying a virtual model offarm equipment, systems, structures and related data andcharacteristics. The steps may be performed in the order shown in FIG.4, or they may be performed in a different order. Furthermore, somesteps may be performed concurrently as opposed to sequentially. Inaddition, some steps may be optional.

The computer-implemented method 100 is described below, for ease ofreference, as being executed by exemplary devices introduced with theembodiments illustrated in FIGS. 1-3. For example, the steps of thecomputer-implemented method 100 may be performed by the computing device14 and user interface 26 through the utilization of processors,transceivers, hardware, software, firmware, or combinations thereof.However, a person having ordinary skill will appreciate thatresponsibility for all or some of such actions may be distributeddifferently among such devices or other computing devices withoutdeparting from the spirit of the present invention. A computer-readablemedium may also be provided. The computer-readable medium may include anexecutable program, such as a virtual control program, stored thereon,wherein the program instructs one or more processing elements to performall or certain of the steps outlined herein. The program stored on thecomputer-readable medium may instruct the processing element to performadditional, fewer, or alternative actions, including those discussedelsewhere herein.

Referring to step 101, the computing device 14 may access topographicaland natural characteristics data/models, for example from the one ormore of the sources discussed above including the topography database58. The data may be compiled from sensor data, structured data files,and/or model or image files such as digitized topography maps, asdescribed above. Where image files are compiled as part of thetopographical and natural characteristics data, the landscape module maybe configured for automated image recognition to extract key featuresfrom images and link them to a location within the model (which may, forexample, enable rendering according to polyhedral mesh techniquesrelying on such key feature location(s) for building virtualrepresentations of the elements).

The topographical and natural characteristics data may include allrelevant data regarding the farm's model elements other than mobileimplements/equipment and man-made structures associated with a localtransmitter 12. Ground water data, nitrogen content data, and othersimilar relevant data are preferably modeled from the topographydatabase along with soil and pertinent landmark data making up suchphysical features of the farm.

Referring to step 102, the landscape module 52 of the virtual controlprogram 42 may build model elements other than the mobileimplements/equipment and man-made structures associated with a localtransmitter 12 to provide a framework for incorporating additionalelements. More particularly, the landscape module 52 may assemble,consolidate and/or reconcile the topographical and naturalcharacteristics data according to known techniques for generating visualrepresentations and/or texturization of a landscape, natural features,other relevant physical features of the farm. The landscape module 52may instruct display of these initial portions of the model at thedisplay 20 of the user interface 16. Preferably, the model isconstructed as a 3D model to optimize the contextual benefits affordedby embodiments of the present invention.

In addition, the landscape module 52 preferably incorporates datahandles for any natural characteristics data made available in thetopography database—such as estimated water reservoir volume for storageponds—into the model. Moreover, the landscape module 52 is preferablyconfigured to generate visual indications of data “gaps.” A “gap” is aportion of an area within the outer boundaries of the model (seediscussion below) which contains unknown physical characteristics and/orwhere conflicting data exists regarding such physical features. Thevisual indications may include blacked or greyed areas. Preferably, thelandscape module 52 is configured to extrapolate and/or interpolate fromsurrounding topography to “fill in” gaps with substantiallycomplementary physical features (e.g., by assuming a constant slope ofland between two known points along a ground surface). Filled in areasare preferably greyed out, surrounding in red outlining, or otherwiseindicated so that the user knows that the depicted filled in featuresrepresent guesses and assumptions on the part of the landscape module52. The landscape module 52 may also maintain a listing of each mobilepiece of equipment on the farm, and/or of external assets (such assatellite imagery services), to which it may automatically issuecoverage requests (e.g., requesting passes to record optical sensordata) to fill in gaps in the data.

The model may be constructed according to known modeling and/orsimulation techniques, including mesh-based or meshfree finite elementmethod(s) pursuant to which elements and nodes are defined within themodel and/or computational fluid dynamics equations. The virtual controlprogram 42 may manage the underlying mathematical simulation aspects ofthe model while rendering the virtual representations of model elementsin conjunction with commercially available software such as thatreferenced herein. However, one of ordinary skill will appreciate thatsimulation and rendering responsibilities may be alternativelydistributed and/or achieved using a variety of known techniques withinthe ambit of the present invention.

Preferably, the user defines outer boundary coordinates (at leastlatitude and longitude coordinates) for the farm to limit the relevantarea for rendering. An outer boundary may, for example, be drawn as aline around the boundary of the farm using commercially availablesurface imaging software such as that made available under the markGoogle Earth™ or the like. The outer boundary may be communicated to thelandscape module 52 as a series of latitude and longitude coordinatesfor use in building the module. It is also foreseen that the computingdevice 14 may translate property descriptions—for instance as enunciatedin one or more property deed(s)—into recognizable boundaries for use inthe model without departing from the spirit of the present invention. Inaddition, in some embodiments the virtual control program 42 may beconfigured to automatically determine dynamic boundaries based onrelevance, the boundary being shiftable based upon the detected orotherwise known position of the tangible model elements at any giventime.

Turning briefly to FIG. 5, an exemplary landscape portion of athree-dimensional model 200 is illustrated including a berm 202, a road204, a storage pond 206 with associated data handles 207, and six fields208 with associated data handles 209. Additional intangible elements ofthe model 200 include an outer boundary 210 surrounding the tangibleelements of the model 200 and a boundary 211 surrounding a “low area”(see discussion above) in the fields 208. The boundaries 210, 211 may begenerated by the user and/or automatically by the computing device 14.

Referring to step 103, the computing device 14 may establishcommunication with the plurality of local controllers 12. The pluralityof local controllers 12 preferably include at least two controllers 12mounted respectively to functionally and physically separate mobile farmimplements, such as a combine and an independently-movable balingimplement. More preferably, a local controller 12 is mounted to and/orotherwise associated with each powered, mechanized and/or mobileimplement and man-made structure on the farm. Moreover, several localcontrollers 12 may be mounted to a single device—such as a movableirrigation device—to monitor the location of and/or collect sensor datafrom multiple parts of the device.

Communication with the local controllers 12 may be established via acommunication network 22. For example, the communication element 36 ofthe computing device 14 and the communication elements 24 of the localcontrollers 12 may be configured to operate on a dedicated wirelesschannel or frequency and/or according to a unique embedded system codeidentifying them to a single farm and/or model. The user mayadditionally set up the communication elements 26, 24 for communication,for instance by providing each local controller 12 with an IP address ofthe computing device 14. It is foreseen that establishing communicationand/or cooperative identification of the various controllers 12 andcomputing device 14 may be achieved by a variety of means withoutdeparting from the spirit of the present invention.

Signals and data exchanged between the communication elements 36, 24 maybe managed at the computing device 14 and/or remotely before conveyanceto the computing device 14 (for example, by a centralized remote serverthat collects signals from multiple farms, organizes them according tounique embedded system codes, and transmits the signals to theidentified computing device 14 and/or local controller(s) 12). Eachlocal controller 12 and the computing device 14 may also be assigned aunique device ID (e.g., a sub-ID appended to the system ID, and/or aphysical/virtual/logical address), which may be used, for example by thecomputing device 14, to target communications and/or commands to onlyspecific device(s) such as a single controller or group of controllers12. More particularly, for each model element the user may enter, or thecomputing device 14 may otherwise automatically acquire, a uniqueaddress or identifier for one or more local controller(s) 12 mounted onor otherwise associated with the model element. The unique address oridentifier might comprise an IP address, a MAC address, or otheridentifier the computing device 14 may key to the model element withinmemory (e.g., for purposes of linking incoming data to a model elementand/or issuing commands) and/or may use to establish electroniccommunication with the model element according to step 103 (describedbelow).

Referring to step 104, the computing device 14 may receive equipment andstructure identifications. Each identification may comprise an initialdefinition for a tangible model element and/or an instruction toincorporate a new tangible model element into the model, and may beassigned a unique component identifier within the system 10. The userand/or the user interface 26 may communicate the identifications to thecomputing device 14 via the user interface 16. For example, a user mayinteract with the user interface 26 to identify a new tractor working onthe farm that should be included in the model. The user may select atractor type (e.g., year, make and model) and assign one or more of theplurality of local controllers 12 to the tractor. The computing device14 may also or alternatively receive equipment and structureidentifications from the local controllers 12 automatically,particularly where the local controllers 12 are configured to store(and, preferably, periodically update) in memory elements 32identifying, parametric and status information regarding the equipmentand structures to which they are mounted. The identifications may betransmitted upon initiation activation of each local controller 12, uponrequest issued by the computing device 14, or otherwise withoutdeparting from the spirit of the present invention.

The computing device 14 may manually obtain additional definitionregarding each new model element from the user and/or may access theequipment and structure database 54 to automatically populate a numberof data fields within the definition for the new model element. Withreference to the exemplary tractor referenced above, the computingdevice 14 may populate data fields such as shape, dimensions, fuelcapacity, functional elements and capabilities, and other data usefulfor generating a representation of the tractor and/or for simulation.For another example, the user may define a new mechanical moveirrigation device, such as a center pivot or lateral move sprinkler. Thecomputing device 14 may also or alternatively access the equipment andstructure database 54 and/or the topography database 58 to automaticallypopulate a number of data fields within the definition for the new modelelement, such as water source; maximum and/or available speed(s);maximum and/or available flow and spread rate(s); length and average ormaximum height and other dimensional characteristics; typical runduration, speed, pivot(s) and/or flow rates, and other data useful forgenerating a representation of the irrigation unit and/or for modeling.

The additional definition requested from the user and/or obtained fromthe equipment and structure database 54 may be pre-determined and/orcustomizable by the user, and may vary with equipment type selected bythe user. The initial and/or additional definition may also oralternatively be automatically supplied by one or more localcontroller(s) 12, for instance where the local controller(s) 12 includelocal memory element(s) 32 configured to store information regarding theequipment and/or structure(s) to which they are mounted. Informationsupplied by the local controller(s) 12 may also be stored in one or moreof database(s) 44, 54, 56, 58 upon or following acquisition by thecomputing device 14. In an embodiment, therefore, receipt of equipmentand structure identifications 101 may mostly or completely be achievedthrough simple links with local controllers 12 that automaticallyprovide definitional information to the computing device 14 for use inpopulating the model.

Tangible model elements may include any equipment or structure(s) thatmay be found on a farm, for example farm buildings; grain storagefacilities; animal containment facilities such as paddocks; fielddefinitions; irrigation machines such as center pivot or lateral moveirrigation machines; pump stations for pumping irrigation water, fuel orother liquids; tractors; harvesting equipment; soil moisture stationsand/or weather stations; water reservoirs such as storage ponds;transportations vehicles such as those used for moving grain or animals;and/or fertilizing vehicles. It is foreseen that other tangible modelelements, such as landscape elements, may be included without departingfrom the spirit of the present invention.

The computing device 14 may also utilize manual input and/or informationstored in the equipment and structure database 54 and/or data handlelibrary 56 to automatically establish mathematical and/orrepresentational relationships between the various equipment andstructures identified to the computing device 14. For example, if firstand second controllers 12 are identified as being mounted to the sametractor, with the first controller 12 monitoring and controlling enginethrottle and the second controller 12 monitoring and controlling thetractor's power take-off, the computing device 14 may establishmathematical relationships and/or operational parameters and thresholdsrelating data and representational data handles derived from the firstand second controllers 12. For another example, third and fourthcontrollers 12 may be mounted to a lateral move sprinkler, with thethird controller 12 measuring pressure and controlling a valve at acommon water supply line and the fourth controller 12 monitoring groundspeed and controlling a drive motor mounted to a tower of the sprinkler.The computing device 14 may establish mathematical relationships and/oroperational parameters and thresholds relating data and representationaldata handles derived from the third and fourth controllers 12, forexample relating ground speed to flow rate (derived from the pressuremeasurement) in view of a desired watering rate per unit area of thesoil. For yet another example, a flow rate data handle associated withthe third controller 12 may be related to an estimated water volume datahandle at a storage pond.

Referring now to step 105, the mapping module 48 of the virtual controlprogram 42 may build the equipment and structure elements identified instep 104. This may include scaling at least some of the equipment andstructural elements up to increase visibility. This may also includeorganizing and placing viewer-facing data handles proximate respectivetangible elements of the model. The mapping module 48 may instructdisplay of the equipment and structure elements at the display 20 of theuser interface 16 and/or at one or more user interfaces 26. The modelmay include animations (e.g., vehicle wheels turning, water coming fromsprinklers, etc.) to indicate operational states of the model elements.

The fully populated initial model may include static and/or movingelements, and is preferably displayed in 3D. Where real-time or nearreal-time data is supplied by local controllers 12, the model preferablyincludes dynamic elements adjusted periodically and/or as data isreceived so that the model remains as accurate as possible inrepresenting the status of the farm and its operations.

Turning briefly to FIG. 6, the three-dimensional model 200 isillustrated including a plurality of mobile agricultural devices andstructures. More particularly, the model 200 includes a tractor 212(with associated data handles 214) towing a discing implement; a lateralmove irrigation sprinkler 216, receiving water from a pipe 217 andincluding associated data handles 218; a pump station 220 withassociated data handles 222 for pumping water from the storage pond 206to the pipe 217; a freestanding weather station 224 with associated datahandles 226; a tractor/trailer 228 with associated data handles 230; anda grain silo grouping 232 with associated data handles 234.

In a preferred embodiment, the mapping module 48 is configured torecognize patterns in behavior of the model elements in view of othermodel elements and circumstances tracked in the model. For example, themapping module 48 may utilize machine learning programs or techniques.The mapping module 48 may utilize information from the movements andchanges in physical state of the model elements and/or changes in thedata handles, and apply that information to one or more machine learningtechniques to generate one or more operational correlations or otherrelational observations for more general application. The machinelearning techniques or programs may include curve fitting, regressionmodel builders, convolutional or deep learning neural networks, or thelike. The mapping module 48 and/or machine learning techniques maytherefore recognize or determine patterns helping to improve thecontextual value of the model. Based upon this data analysis, themapping module 48 and/or machine learning techniques may, for example,provide suggestions to the user for achieving certain goals on the farm,for fixing problems identified in the model, and/or for smoothingdisplay of the model at the user interface 16 and/or user interfaces 26.Data regression may be used alone and/or in conjunction with machinelearning techniques to fit mathematical algorithms to particularrelationships between model elements, for example representing thedegree of pressure drop along a particular section of pipe or the amountof cooling work that must be done in an enclosed space per occupant tomaintain a particular temperature differential from the ambientenvironment. These relationships may help improve control algorithms forfarm operations.

In an example, the virtual control program 42 may periodically receiveweather predictions and/or measurements via a third-party weatherservice API for display to the user in the model. The virtual controlprogram 42 may use machine learning techniques to analyze historicaldata about the farm—including current storage pond water volume,rainfall and soil moisture content—to predict that one or more areas ofa field are projected to flood if a certain amount of rainfall isreceived in the coming storm. The virtual control program 42 may beconfigured to provide an alert summarizing such conclusion(s) to theuser at the user interface 16 and/or one or more user interface(s) 26.

In connection with another example, it is noted that one or more localcontroller(s) 12 may originate with an original equipment manufacturerand be adapted for use with the system 10. In any case, one or more ofthe local controllers 12 may be configured to transmit data—e.g.,positional or sensed data—only infrequently and/or upon occurrence of aparticular event (such as redirection, change in speed, change in flow,etc.). Moreover, multiple different local controllers 12 may each havedifferent setting(s), rendering any model based only on real-time dataseverely incomplete at any given moment. To smooth the model so that itmay be used at any given moment with all elements virtually represented,the virtual control program 42 may use machine learning techniques toanalyze historical data about the farm and each element in the model tofill in gaps between transmissions from the local controller(s) 12,permitting continuous depiction of each element.

The virtual control program 42 may begin with an assumption that theposition and properties of a tangible element are constant and/orchanging at a constant rate, for example, to enable continuousrepresentation of the tangible element between transmissions from itscontroller(s) 12. Over time, however, the historical data may show apattern or patterns causing the constancy assumptions to be altered. Forexample, the virtual control program 42 may note that each time a balingimplement (i.e., a trailing device) follows a tractor (i.e., a leadingdevice) through a field, it stays within 100 feet of the tractor aroundturns. As applied to the model, if both tractor and baling implement aretraveling east within a field according to a first burst of datatransmissions and subsequently the tractor transmits a new location andheading in a southerly direction, the virtual control program 42 mayturn the baling implement within the model to follow the tractoraccording to the 100-foot rule developed from machine learning andanalysis of historical data, even before the baling implement transmitsanother burst of data indicating its new position and heading. Incertain embodiments, the model may—through simulations, algorithmicapproximations, and/or machine learning—improve on prior art controlsilos which, viewed in isolation at any given moment, fail toeffectively present a wholistic representation of critical informationrelating to the farm.

Referring now to step 106, the computing device 14 may launch asimulation within the model in response to user input. For instance, theuser may select a “Simulation Mode” option at the user interface 16, ormay simply select a data handle and attempt to edit a setting, parameterand/or relationship between model elements, causing the computing device14 to automatically enter simulation mode to accommodate the attemptedchange. The computing device 14 may also or alternatively be configuredto query the user regarding whether his/her intent is to manually changethe model in such a manner in order to better reflect the actual stateof the farm to issue a command to associated device(s), or instead torun a simulation including the change(s). The user may also oralternatively select an option for changing equipment and/or operationalsettings in accordance with the user input, regardless of whether thechange(s) are simulated first.

Referring now to step 107, the computing device 14 may receive andimplement one or more user inputted changes to one or more modelelements. In simulation mode, the virtual control program 42 may beconfigured to simulate the inputted changes and carry the change(s)forward (either in real time or in a time lapse mode, as desired by theuser) and/or throughout the model so that the user may determineresulting changes in system 10 behavior and/or status. As noted above,such changes in the model are preferably stored by the computing device14 for use by machine learning techniques and/or implementation if theuser determines that the results were favorable.

User input may be converted to changes within the model by user inputmodule 50 interpreting the gesture(s) in view of the template database44, as discussed in more detail above. For example, a first gesture maybe mapped to a zoom (in or out) function within the template database44. A second gesture may be mapped to a panning function (e.g., left,right, up, down). A third gesture may be mapped to a point zoom function(e.g., pulling an imaginary rope may result in zooming along a lineparallel to the user's linear pulling motion). A fourth gesture may bemapped to a grab and zoom/pan function, whereby the user may grab amodel element and subsequently move the grabbing hand around resultingin corresponding movement of the perspective of the model. A fifthgesture may be mapped to a select element function, whereby the user mayselect a model element to see additional detail. For instance, the usermay select a stack of data handles for an irrigation pump station topresent all the stacked data handles for viewing and/or to prime ascrolling or cycling function whereby the user may use a scroll or cyclegesture to move through the data handles individually. The selectelement function may have multiple other uses in the model, for exampleto indicate a data field within a data handle in which the user wishesto make a manual input, to prime a data handle to be moved within themodel using another gesture, or to otherwise prime model elements forfurther action.

The gesture(s) mapped to functions in the template database 44 may becombined to achieve one or more desired affects within the model. Forinstance, the fifth gesture (select) may, when performed on an editabledata handle (such as an equipment setting), prime the data handle bycausing the computing device 14 to present a spinning counting wheel orthe like that may be spun to a new desired setting by another usergesture.

As discussed above, user input is preferably in the form of gesturecontrol, which may be sensed at the user interface 16 via gesture sensor18 and/or at one or more user interfaces 26 via sensing element(s) 30.For example, a local controller 12 (e.g., comprising a control panel)mounted to a lateral move irrigation sprinkler may include an opticalsensing element 30 for receiving gesture input and a user interface 26that displays the model to the user (preferably in 3D).

Implementation of the changes a user makes within the model may becarried out on the farm by one or more actuation mechanisms incommunication with local controllers 12. For example, an onboardcomputer of a tractor may link to a throttle control mechanism to alterthe speed of the tractor. For another example, an embodiment of thesystem 10 includes a number of local controllers 12 having valve controlmechanisms for opening and closing valves in an irrigation system. Theirrigation system may include, but is not limited to drip irrigation,trickle irrigation, micro irrigation, and/or localized irrigation.Embodiments of the system 10 may also be used with center pivotirrigation systems, lateral or linear irrigation systems, and/or othertypes of irrigation systems.

The user interface 16 and/or one or more user interfaces 26 may presentone or more data handles within which the user may create and/or modifyirrigation plans for the irrigation system. An irrigation plan may beexecuted by the computing device 14 to control operation of the valvesvia the local controllers 12 in the irrigation system. Each irrigationplan includes information for at least one irrigation zone.

An exemplary irrigation system that may be controlled with the system 10may include one or more pumps or master valves that receive water from areservoir, river, lake, or other water source 16; a water filtrationsystem that filters the water before it is delivered to irrigatedplants; an injector system that may be used to inject fertilizers,pesticides, and/or other substances into the water; a number of waterpipes, tubes, hoses, and/or other water emitters that deliver the waterto the plants; and a number of valves that control the flow of water tothe water emitters. The irrigation system may also include water pipesor other fluid-carrying conduits for carrying water between the othercomponents of the system, various check valves, shut-off valves, andother valves, and other components commonly found on irrigation systems.Each valve and its associated water emitters create an irrigation zone.Any number of these components and zones may be provided, as thespecific configuration of the irrigation system is not critical and mayvary from one embodiment of the invention to another without departingfrom the spirit or scope of the present invention.

The valve controllers 12 may be linked to any conventional actuationmeans or devices capable of opening and closing the valves underdirection of the computing device 14. The valve controllers 12 mayreceive simple open and close type instructions from the computingdevice 14 or may have a resident memory element 32 that can receive andstore detailed instructions for controlling the valves. For example,each valve controller 12 may have memory and date and clock circuitryand may receive, store, and implement a schedule of times to open andclose over extended time periods. The computing device 14 signals thevalve controllers 12 to open or close their respective valves inaccordance with one or more irrigation plans. The valve controllers 12may be enclosed in a waterproof housing or otherwise sealed from theenvironment to protect electrical components that may be damaged bywater, dust or sunlight. The housing may be mounted anywhere near theirrigation system, such as near the pump or other components of alow-volume irrigation system.

Additional Considerations

In this description, references to “one embodiment”, “an embodiment”, or“embodiments” mean that the feature or features being referred to areincluded in at least one embodiment of the technology. Separatereferences to “one embodiment”, “an embodiment”, or “embodiments” inthis description do not necessarily refer to the same embodiment and arealso not mutually exclusive unless so stated and/or except as will bereadily apparent to those skilled in the art from the description. Forexample, a feature, structure, act, etc. described in one embodiment mayalso be included in other embodiments, but is not necessarily included.Thus, the current technology may include a variety of combinationsand/or integrations of the embodiments described herein.

Although the present application sets forth a detailed description ofnumerous different embodiments, it should be understood that the legalscope of the description is defined by the words of the claims set forthat the end of this patent and equivalents. The detailed description isto be construed as exemplary only and does not describe every possibleembodiment since describing every possible embodiment would beimpractical. Numerous alternative embodiments may be implemented, usingeither current technology or technology developed after the filing dateof this patent, which would still fall within the scope of the claims.

Throughout this specification, plural instances may implementcomponents, operations, or structures described as a single instance.Although individual operations of one or more methods are illustratedand described as separate operations, one or more of the individualoperations may be performed concurrently, and nothing requires that theoperations be performed in the order illustrated. Structures andfunctionality presented as separate components in example configurationsmay be implemented as a combined structure or component. Similarly,structures and functionality presented as a single component may beimplemented as separate components. These and other variations,modifications, additions, and improvements fall within the scope of thesubject matter herein.

Certain embodiments are described herein as including logic or a numberof routines, subroutines, applications, or instructions. These mayconstitute either software (e.g., code embodied on a machine-readablemedium or in a transmission signal) or hardware. In hardware, theroutines, etc., are tangible units capable of performing certainoperations and may be configured or arranged in a certain manner. Inexample embodiments, one or more computer systems (e.g., a standalone,client or server computer system) or one or more hardware modules of acomputer system (e.g., a processor or a group of processors) may beconfigured by software (e.g., an application or application portion) ascomputer hardware that operates to perform certain operations asdescribed herein.

In various embodiments, computer hardware, such as a processing element,may be implemented as special purpose or as general purpose. Forexample, the processing element may comprise dedicated circuitry orlogic that is permanently configured, such as an application-specificintegrated circuit (ASIC), or indefinitely configured, such as an FPGA,to perform certain operations. The processing element may also compriseprogrammable logic or circuitry (e.g., as encompassed within ageneral-purpose processor or other programmable processor) that istemporarily configured by software to perform certain operations. Itwill be appreciated that the decision to implement the processingelement as special purpose, in dedicated and permanently configuredcircuitry, or as general purpose (e.g., configured by software) may bedriven by cost and time considerations.

Accordingly, the term “processing element” or equivalents should beunderstood to encompass a tangible entity, be that an entity that isphysically constructed, permanently configured (e.g., hardwired), ortemporarily configured (e.g., programmed) to operate in a certain manneror to perform certain operations described herein. Consideringembodiments in which the processing element is temporarily configured(e.g., programmed), each of the processing elements need not beconfigured or instantiated at any one instance in time. For example,where the processing element comprises a general-purpose processorconfigured using software, the general-purpose processor may beconfigured as respective different processing elements at differenttimes. Software may accordingly configure the processing element toconstitute a particular hardware configuration at one instance of timeand to constitute a different hardware configuration at a differentinstance of time.

Computer hardware components, such as communication elements, memoryelements, processing elements, and the like, may provide information to,and receive information from, other computer hardware components.Accordingly, the described computer hardware components may be regardedas being communicatively coupled. Where multiple of such computerhardware components exist contemporaneously, communications may beachieved through signal transmission (e.g., over appropriate circuitsand buses) that connect the computer hardware components. In embodimentsin which multiple computer hardware components are configured orinstantiated at different times, communications between such computerhardware components may be achieved, for example, through the storageand retrieval of information in memory structures to which the multiplecomputer hardware components have access. For example, one computerhardware component may perform an operation and store the output of thatoperation in a memory device to which it is communicatively coupled. Afurther computer hardware component may then, at a later time, accessthe memory device to retrieve and process the stored output. Computerhardware components may also initiate communications with input oroutput devices, and may operate on a resource (e.g., a collection ofinformation).

The various operations of example methods described herein may beperformed, at least partially, by one or more processing elements thatare temporarily configured (e.g., by software) or permanently configuredto perform the relevant operations. Whether temporarily or permanentlyconfigured, such processing elements may constitute processingelement-implemented modules that operate to perform one or moreoperations or functions. The modules referred to herein may, in someexample embodiments, comprise processing element-implemented modules.

Similarly, the methods or routines described herein may be at leastpartially processing element-implemented. For example, at least some ofthe operations of a method may be performed by one or more processingelements or processing element-implemented hardware modules. Theperformance of certain of the operations may be distributed among theone or more processing elements, not only residing within a singlemachine, but deployed across a number of machines. In some exampleembodiments, the processing elements may be located in a single location(e.g., within a home environment, an office environment or as a serverfarm), while in other embodiments the processing elements may bedistributed across a number of locations.

Unless specifically stated otherwise, discussions herein using wordssuch as “processing,” “computing,” “calculating,” “determining,”“presenting,” “displaying,” or the like may refer to actions orprocesses of a machine (e.g., a computer with a processing element andother computer hardware components) that manipulates or transforms datarepresented as physical (e.g., electronic, magnetic, or optical)quantities within one or more memories (e.g., volatile memory,non-volatile memory, or a combination thereof), registers, or othermachine components that receive, store, transmit, or displayinformation.

As used herein, the terms “comprises,” “comprising,” “includes,”“including,” “has,” “having” or any other variation thereof, areintended to cover a non-exclusive inclusion. For example, a process,method, article, or apparatus that comprises a list of elements is notnecessarily limited to only those elements but may include otherelements not expressly listed or inherent to such process, method,article, or apparatus. Further, unless expressly stated to the contrary,“or” refers to an inclusive or and not to an exclusive or.

The patent claims at the end of this patent application are not intendedto be construed under 35 U. S. C. § 112(f) unless traditionalmeans-plus-function language is expressly recited, such as “means for”or “step for” language being explicitly recited in the claim(s).

Although the invention has been described with reference to theembodiments illustrated in the attached drawing figures, it is notedthat equivalents may be employed and substitutions made herein withoutdeparting from the scope of the invention as recited in the claims.

Having thus described various embodiments of the invention, what isclaimed as new and desired to be protected by Letters Patent includesthe following:

We claim:
 1. A method for controlling a plurality of mobile agriculturaldevices implemented via one or more transceivers and one or moreprocessors, the method comprising: establishing electronic communicationwith a plurality of transceivers mounted to respective ones of theplurality of mobile agricultural devices; building a three-dimensionalmodel including a virtual representation of each of the plurality ofmobile agricultural devices; displaying the three-dimensional model at auser interface including a display; receiving location data regardingthe plurality of mobile agricultural devices via the plurality oftransceivers; adjusting at least one of the virtual representations ofthe plurality of mobile agricultural devices within thethree-dimensional model to reflect the location data; receiving, via theuser interface, a user input comprising a command relating to operationof a first mobile agricultural device of the plurality of mobileagricultural devices; transmitting the user input command to atransceiver of the plurality of transceivers that is mounted to thefirst mobile agricultural device so as to implement a change inoperation of the first mobile agricultural device; receiving anidentification for each of the plurality of mobile agricultural devices;and based on each identification, automatically retrieving equipmentdata regarding the corresponding mobile agricultural device from anequipment and structure database.
 2. The method of claim 1, wherein thethree-dimensional model includes topographical model elements built toscale with respect to one another.
 3. The method of claim 2, wherein thevirtual representations of the plurality of mobile agricultural devicesare larger than scale with respect to the topographical model elementswithin the three-dimensional model.
 4. The method of claim 1, whereinbuilding the three-dimensional model includes visually associating theretrieved equipment data with the corresponding mobile agriculturaldevices.
 5. The method of claim 4, wherein at least one of theidentifications is received automatically via one or more of theplurality of transceivers.
 6. The method of claim 4, wherein at leastone of the identifications is received via manual input at the userinterface.
 7. The method of claim 1, wherein the three-dimensional modelincludes topographical model elements built at least in part based ondata received automatically via the plurality of transceivers.
 8. Themethod of claim 1, further including receiving weather data via aweather service API and displaying a corresponding weather notificationwithin the three-dimensional model at the user interface.
 9. The methodof claim 1, further including storing a data handle at least partlydefined by the user via the user interface, wherein building thethree-dimensional model includes visually incorporating the data handleproximate at least one of the first mobile agricultural device and asecond mobile agricultural device of the plurality of mobileagricultural devices.
 10. The method of claim 9, wherein the data handlerelates at least one operational parameter of the first mobileagricultural device to at least one operational parameter of the secondmobile agricultural device, further including— automatically determininga secondary command based on A) the command relating to the firstmechanical device, and B) the information of the data handle, andtransmitting the secondary command to a transceiver of the plurality oftransceivers that is mounted to the second mobile agricultural device.11. The method of claim 1, wherein communication with the plurality oftransceivers is enabled by a plurality of unique device identifiersassociated with respective ones of the plurality of transceivers. 12.The method of claim 1, wherein communication with the plurality oftransceivers is enabled by use of a dedicated frequency.
 13. The methodof claim 1, further including— feeding a historical data set comprisingdata received from the plurality of transceivers to a machine learningalgorithm; determining, via analysis of the historical data set by themachine learning algorithm, an operational correlation between a leadingmobile agricultural device and a trailing mobile agricultural device ofthe plurality of mobile agricultural devices, the leading and trailingmobile agricultural devices having leading and trailing transceivers ofthe plurality of transceivers mounted respectively thereon; receiving adata transmission from the leading transceiver; comparing the datatransmission against the operational correlation; and applying theoperational correlation to adjust the trailing mobile agriculturaldevice within the model.
 14. The method of claim 13, wherein theoperational correlation specifies a relationship between a movement ofthe leading mobile agricultural device and a corresponding movement ofthe trailing mobile agricultural device, the data transmission indicatesthe occurrence of the movement of the leading mobile agriculturaldevice, and the operational correlation is applied to adjust thetrailing mobile agricultural device within the model according to thecorrelation before receipt of another data transmission from thetrailing transceiver confirming occurrence of the corresponding movementof the trailing mobile agricultural device.
 15. The method of claim 1,further including simulating one or more aspects of thethree-dimensional model based on the user input.
 16. The method of claim15, further including storing the user input.
 17. The method of claim16, wherein transmitting the user input is triggered by receipt of aninstruction to implement the stored user input.
 18. The method of claim1, wherein the user input comprises gesture control detected by agesture control sensor.
 19. The method of claim 18, wherein the gesturecontrol sensor is in electronic communication with a central computingdevice, the central computing device being configured to communicatewith each of the plurality of transceivers.
 20. The method of claim 18,wherein the gesture control sensor and a transceiver of the plurality oftransceivers together comprise a local controller mounted to a mobileagricultural device of the plurality of mobile agricultural devices.